Robust Lateral and Longitudinal Control for Vehicle Platoons With Unknown Interaction Topology Subject to Multiple Communication Delays

This article addresses the lateral and longitudinal control problem for vehicle platoons subject to multiple communication delays. The essential lateral control problem and different delays in search-based routes of the vehicular ad-hoc networks (VANET) are introduced to vehicle platoon control. We...

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Published inIEEE transactions on intelligent vehicles Vol. 9; no. 10; pp. 6270 - 6283
Main Authors Zhang, Nianhua, Li, Xiang, Chen, Jicheng, Li, Hongbiao, Nie, Yiming, Zhang, Hui
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.10.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Communication
Control systems design
Controllers
Coordinates
Delays
Intelligent vehicles
Lateral control
Linear matrix inequalities
Longitudinal control
Mobile ad hoc networks
multiple delays
Platooning
Road traffic
Robust control
Routing protocols
Subsystems
Topology
Tracks (paths)
Vehicle dynamics
vehicle platoon
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Abstract This article addresses the lateral and longitudinal control problem for vehicle platoons subject to multiple communication delays. The essential lateral control problem and different delays in search-based routes of the vehicular ad-hoc networks (VANET) are introduced to vehicle platoon control. We first design an objective-based decoupled lateral and longitudinal control framework for vehicle platoons. With the Frenet coordinate system, a robust controller for lateral control is established to ensure each follower vehicle tracks the desired path and remain within the platoon. For the longitudinal control, the longitudinal error dynamic of vehicle-<inline-formula><tex-math notation="LaTeX"> i</tex-math></inline-formula> with a specific interacted vehicle-<inline-formula><tex-math notation="LaTeX"> j</tex-math></inline-formula> is modeled. Furthermore, with an unknown interaction topology, the error dynamic is augmented as multiple low-dimensional subsystems instead of an high-dimensional platoon system. To accommodate the communication delays, we design a distributed robust controller based on the Lyapunov-Krasovskii function. In addition, a delay-tolerant controller design theorem is obtained with linear matrix inequalities (LMIs). Simulations are conducted to demonstrate the effectiveness and improvement of the proposed controllers.
AbstractList This article addresses the lateral and longitudinal control problem for vehicle platoons subject to multiple communication delays. The essential lateral control problem and different delays in search-based routes of the vehicular ad-hoc networks (VANET) are introduced to vehicle platoon control. We first design an objective-based decoupled lateral and longitudinal control framework for vehicle platoons. With the Frenet coordinate system, a robust controller for lateral control is established to ensure each follower vehicle tracks the desired path and remain within the platoon. For the longitudinal control, the longitudinal error dynamic of vehicle-<inline-formula><tex-math notation="LaTeX"> i</tex-math></inline-formula> with a specific interacted vehicle-<inline-formula><tex-math notation="LaTeX"> j</tex-math></inline-formula> is modeled. Furthermore, with an unknown interaction topology, the error dynamic is augmented as multiple low-dimensional subsystems instead of an high-dimensional platoon system. To accommodate the communication delays, we design a distributed robust controller based on the Lyapunov-Krasovskii function. In addition, a delay-tolerant controller design theorem is obtained with linear matrix inequalities (LMIs). Simulations are conducted to demonstrate the effectiveness and improvement of the proposed controllers.
This article addresses the lateral and longitudinal control problem for vehicle platoons subject to multiple communication delays. The essential lateral control problem and different delays in search-based routes of the vehicular ad-hoc networks (VANET) are introduced to vehicle platoon control. We first design an objective-based decoupled lateral and longitudinal control framework for vehicle platoons. With the Frenet coordinate system, a robust controller for lateral control is established to ensure each follower vehicle tracks the desired path and remain within the platoon. For the longitudinal control, the longitudinal error dynamic of vehicle-[Formula Omitted] with a specific interacted vehicle-[Formula Omitted] is modeled. Furthermore, with an unknown interaction topology, the error dynamic is augmented as multiple low-dimensional subsystems instead of an high-dimensional platoon system. To accommodate the communication delays, we design a distributed robust controller based on the Lyapunov-Krasovskii function. In addition, a delay-tolerant controller design theorem is obtained with linear matrix inequalities (LMIs). Simulations are conducted to demonstrate the effectiveness and improvement of the proposed controllers.
Author Li, Hongbiao
Nie, Yiming
Zhang, Hui
Li, Xiang
Chen, Jicheng
Zhang, Nianhua
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Snippet This article addresses the lateral and longitudinal control problem for vehicle platoons subject to multiple communication delays. The essential lateral...
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SubjectTerms Communication
Control systems design
Controllers
Coordinates
Delays
Intelligent vehicles
Lateral control
Linear matrix inequalities
Longitudinal control
Mobile ad hoc networks
multiple delays
Platooning
Road traffic
Robust control
Routing protocols
Subsystems
Topology
Tracks (paths)
Vehicle dynamics
vehicle platoon
Title Robust Lateral and Longitudinal Control for Vehicle Platoons With Unknown Interaction Topology Subject to Multiple Communication Delays
URI https://ieeexplore.ieee.org/document/10433710
https://www.proquest.com/docview/3219891949
Volume 9
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